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optical flow sensor pipeline overhaul

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- all sources of optical flow publish sensor_optical_flow
 - sensor_optical_flow is aggregated by the sensors module, aligned with integrated gyro, and published as vehicle_optical_flow

Co-authored-by: alexklimaj <alex@arkelectron.com>
This commit is contained in:
Daniel Agar
2022-06-20 20:56:56 -04:00
co-authored by alexklimaj
parent 32544452f0
commit d5839e2dd5
49 changed files with 1415 additions and 634 deletions
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src/modules/sensors/sensor_params_flow.c
+24 -11
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -32,11 +32,10 @@
****************************************************************************/
/**
* PX4Flow board rotation
* Optical flow rotation
*
* This parameter defines the yaw rotation of the PX4FLOW board relative to the vehicle body frame.
* This parameter defines the yaw rotation of the optical flow relative to the vehicle body frame.
* Zero rotation is defined as X on flow board pointing towards front of vehicle.
* The recommneded installation default for the PX4FLOW board is with the Y axis forward (270 deg yaw).
*
* @value 0 No rotation
* @value 1 Yaw 45°
@@ -47,11 +46,9 @@
* @value 6 Yaw 270°
* @value 7 Yaw 315°
*
* @reboot_required true
*
* @group Sensors
*/
PARAM_DEFINE_INT32(SENS_FLOW_ROT, 6);
PARAM_DEFINE_INT32(SENS_FLOW_ROT, 0);
/**
* Minimum height above ground when reliant on optical flow.
@@ -66,7 +63,7 @@ PARAM_DEFINE_INT32(SENS_FLOW_ROT, 6);
* @decimal 1
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_FLOW_MINHGT, 0.7f);
PARAM_DEFINE_FLOAT(SENS_FLOW_MINHGT, 0.08f);
/**
* Maximum height above ground when reliant on optical flow.
@@ -78,12 +75,12 @@ PARAM_DEFINE_FLOAT(SENS_FLOW_MINHGT, 0.7f);
*
* @unit m
* @min 1.0
* @max 25.0
* @max 100.0
* @increment 0.1
* @decimal 1
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_FLOW_MAXHGT, 3.0f);
PARAM_DEFINE_FLOAT(SENS_FLOW_MAXHGT, 100.f);
/**
* Magnitude of maximum angular flow rate reliably measurable by the optical flow sensor.
@@ -97,4 +94,20 @@ PARAM_DEFINE_FLOAT(SENS_FLOW_MAXHGT, 3.0f);
* @decimal 2
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_FLOW_MAXR, 2.5f);
PARAM_DEFINE_FLOAT(SENS_FLOW_MAXR, 8.f);
/**
* Optical flow max rate.
*
* Optical flow data maximum publication rate. This is an upper bound,
* actual optical flow data rate is still dependant on the sensor.
*
* @min 1
* @max 200
* @group Sensors
* @unit Hz
*
* @reboot_required true
*
*/
PARAM_DEFINE_FLOAT(SENS_FLOW_RATE, 70.0f);